CN109172281A - A kind of lower limb rehabilitation robot of seven freedom - Google Patents
A kind of lower limb rehabilitation robot of seven freedom Download PDFInfo
- Publication number
- CN109172281A CN109172281A CN201811208089.5A CN201811208089A CN109172281A CN 109172281 A CN109172281 A CN 109172281A CN 201811208089 A CN201811208089 A CN 201811208089A CN 109172281 A CN109172281 A CN 109172281A
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- Prior art keywords
- joint
- hip
- ankle
- thigh
- freedom
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 60
- 210000003423 ankle Anatomy 0.000 claims abstract description 110
- 210000001624 hip Anatomy 0.000 claims abstract description 91
- 210000000689 upper leg Anatomy 0.000 claims abstract description 91
- 210000001699 lower leg Anatomy 0.000 claims abstract description 89
- 230000033001 locomotion Effects 0.000 claims abstract description 57
- 210000004394 hip joint Anatomy 0.000 claims abstract description 50
- 241000469816 Varus Species 0.000 claims abstract description 46
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims abstract description 45
- 229960001030 mephenoxalone Drugs 0.000 claims abstract description 45
- 210000003127 knee Anatomy 0.000 claims abstract description 38
- 210000002414 leg Anatomy 0.000 claims abstract description 32
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 31
- 210000002683 foot Anatomy 0.000 claims abstract description 23
- 210000000629 knee joint Anatomy 0.000 claims abstract description 7
- 210000003414 extremity Anatomy 0.000 claims description 21
- 230000003993 interaction Effects 0.000 claims description 12
- 239000004677 Nylon Substances 0.000 claims description 5
- 241001227561 Valgus Species 0.000 claims description 5
- 230000035876 healing Effects 0.000 claims description 5
- 229920001778 nylon Polymers 0.000 claims description 5
- 208000037873 arthrodesis Diseases 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 244000309466 calf Species 0.000 claims description 3
- 230000006517 limb development Effects 0.000 claims description 2
- 238000012549 training Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 12
- 230000009467 reduction Effects 0.000 description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 239000002253 acid Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
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- A—HUMAN NECESSITIES
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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- A—HUMAN NECESSITIES
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
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- A—HUMAN NECESSITIES
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0482—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs primarily by articulating the hip joints
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0494—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs primarily by articulating the knee joints
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
-
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/088—Hip
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/40—Acceleration
- A63B2220/44—Angular acceleration
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/803—Motion sensors
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Biophysics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of lower limb rehabilitation robot of seven freedom, include: outreach joint is received in hip, hip buckling stretching, extension joint, hip inward turning outward turning joint, knee buckling stretching, extension joint, ankle varus turn up joint, ankle plantar flexion dorsiflex joint, receive outreach joint, thigh telescopic section, shank telescopic section, thigh support section, shank support section, leg foot fixed part and control section composition in ankle, 7 degree of freedom, which is adopted, to be connected serially.Operation of the present invention is convenient, only patient thigh and shank need to be put into thigh support section and shank support section, patient legs and foot are fixed in ankle receipts outreach joint by leg foot fixed part, i.e., receive abduction exercise in offer patient's hip, hip buckling stretching routine, hip inward turning outward turning campaign, knee buckling stretching routine, ankle varus turn up and receive the rehabilitation training that abduction exercise is total to 7 degree of freedom in movement, ankle plantar flexion dorsiflex campaign and ankle.
Description
Technical field
The present invention relates to field of medical device, and in particular, to a kind of lower limb rehabilitation robot of seven freedom.
Background technique
Patients with cerebral apoplexy or the postoperative most effective restoration methods of limb injury patient are exactly rehabilitation training at present, and lower limb
Rehabilitation training is a link very crucial in limbs of patient rehabilitation exercise, at present on the market there are no it is a kind of it is effective mostly from
Occurred by the mechanism that degree carries out patient's lower extremity movement, realizes that the colleague of hip joint, knee joint and ankle-joint coordinates rehabilitation movement, make
It obtains patient and obtains effective multiple degrees of freedom lower limb rehabilitation training during rehabilitation exercise.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of lower limb rehabilitation robot of seven freedom, and structure is simple,
It is convenient to operate, and has good rehabilitation efficacy, has and is widely popularized meaning.
In order to achieve the above object, the present invention provides a kind of lower limb rehabilitation robot of seven freedom, comprising: receive outreach in hip
Turn up joint, the ankle plantar flexion dorsiflex of joint, hip buckling stretching, extension joint, hip inward turning outward turning joint, the stretching, extension of knee buckling joint, ankle varus is closed
Outreach joint, thigh telescopic section, shank telescopic section, thigh support section, shank support section, leg foot are received in section, ankle
Portion's fixed part and control section, the interior outreach joint of receiving of the hip is first degree-of-freedom joint, and the hip buckling stretches joint
For second degree-of-freedom joint, the hip inward turning outward turning joint is third degree-of-freedom joint, and knee buckling stretching, extension joint is
4th degree-of-freedom joint, ankle varus joint of turning up is the 5th degree-of-freedom joint, and the ankle plantar flexion dorsiflex joint is the
Six-freedom degree joint, the interior outreach joint of receiving of the ankle is 7 degree of freedom joint, and 7 degree of freedom joint is connected in series；Its
In:
It is concentric that receipts and arms sideward lift joint shaft in the hip joint of outreach joint and human body lower limbs are received in the hip, for assisting
The interior receipts and abduction exercise of patient's lower limb development hip joint；
Outreach joint is received in hip buckling stretching, extension joint connection hip, and dynamic with the hip joint buckling of human body lower limbs and stretching, extension
Make that joint shaft is concentric, for assisting patient's lower limb to carry out the buckling and stretching routine of hip joint；
The thigh telescopic section connection hip buckling stretches joint, and thigh telescopic section is used for the length according to human thigh
Manual adjustment size is to adapt to the requirements of different limbs scales；
The hip inward turning outward turning joint connects thigh telescopic section, and acts with the hip joint inner of human body lower limbs and outward turning
Joint shaft is concentric, for assisting patient's lower limb to carry out the inward turning and outward turning campaign of hip joint；
Knee buckling stretching, extension joint connects thigh telescopic section, and dynamic with the knee sprung of human body knee joint and stretching, extension
It is concentric to make joint shaft, for assisting patient's lower limb to carry out kneed buckling and stretching movement；
The shank telescopic section is connect with knee buckling stretching, extension joint, and shank telescopic section is used for the length according to human calf
Manual adjustment size is spent to adapt to the requirement of different limbs scales；
The ankle varus turn up joint connection shank telescopic section, and with the ankle-joint varus and valgus of human body lower limbs act
Joint shaft is concentric, for assisting patient's lower limb to carry out the varus and valgus movement of ankle-joint；
Ankle plantar flexion dorsiflex joint connection ankle varus is turned up joint, and dynamic with the ankle-joint plantar flexion of human body lower limbs and dorsiflex
Make that joint shaft is concentric, for assisting patient's lower limb to carry out the plantar flexion and dorsiflex campaign of ankle-joint；
Outreach joint is received in the ankle and connects ankle plantar flexion dorsiflex joint, and dynamic with receipts in the ankle-joint of human body lower limbs and outreach
Make that joint shaft is concentric, for assisting patient's lower limb to carry out the interior receipts and abduction exercise of ankle-joint；
The thigh support section connects thigh telescopic section, is used to support the leg portion of people's limbs；
The shank support section connects shank telescopic section, is used to support the lower leg portion of people's limbs；
The leg foot fixed part is used to that outreach arthrodesis will to be received in the leg of patient and foot and ankle；
The control section, for controlling the movement velocity and movement angle in the 7 degree of freedom joint, according to demand
Active, passive type or resistance control are carried out to patient and realize rehabilitation efficacy according to the rehabilitation demands of different phase.
Preferably, outreach joint, hip buckling stretching, extension joint, hip inward turning outward turning joint, knee buckling stretching, extension pass are received in the hip
Section, ankle varus are turned up, and joint, ankle plantar flexion dorsiflex joint and ankle are interior to receive outreach joint, altogether 7 degree of freedom joint independently moving, or
The several freedom degree linkages of person.
Preferably, it is vertical with the hip buckling stretching, extension movable joint axis in joint that outreach joint is received in the hip.
Preferably, the hip inward turning outward turning joint and the interior movable joint axis for receiving outreach joint, hip buckling stretching, extension joint of hip
Vertically.
Preferably, the thigh telescopic section includes: thigh fixation member, thigh slide unit and thigh length tight lock part
Part, in which:
The thigh fixation member is connect with hip buckling stretching, extension joint, for carrying thigh slide unit and thigh length lock
Tight component；
The thigh slide unit and the linear sliding motion of thigh fixation member, and according to limbs of patient thigh length tune
Save the length of entire thigh telescopic section；
The thigh length locking member carries out linear slide and meets patient thigh's length to want for thigh slide unit
It is locked after asking, to fix the mutual alignment of thigh fixation member and thigh slide unit.
Preferably, the shank telescopic section includes: shank fixation member, shank slide unit and lower-leg length tight lock part
Part, in which:
The shank fixation member is connected with knee buckling stretching, extension joint, for carrying shank slide unit and lower-leg length
Locking member；
The shank slide unit and the linear sliding motion of shank fixation member, and according to limbs of patient lower-leg length tune
Save the length of entire shank telescopic section；
The lower-leg length locking member carries out linear slide and meets patient's lower-leg length to want for shank slide unit
It is locked after asking, to fix the mutual alignment of shank fixation member and shank slide unit.
Preferably, ankle varus joint of turning up is vertical with the movable joint axis in ankle plantar flexion dorsiflex joint.
Preferably, it receives outreach joint in the ankle and ankle varus is turned up the movable joint axis in joint, ankle plantar flexion dorsiflex joint
Vertically.
Preferably, outreach joint, hip buckling stretching, extension joint, hip inward turning outward turning joint, knee buckling stretching, extension pass are received in the hip
Section, ankle varus turn up the interior motion source for receiving outreach joint of joint, ankle plantar flexion dorsiflex joint and ankle using DC stepper motor, direct current
One of magneto, DC brushless motor, direct current torque motor, AC servo motor.
It is highly preferred that receiving outreach joint, hip buckling stretching, extension joint, hip inward turning outward turning joint, the stretching, extension of knee buckling in the hip
Joint, ankle varus turn up joint, receive outreach joint in ankle plantar flexion dorsiflex joint and ankle motor pattern it is direct using rotating electric machine
The mode of driving, or using in RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit, worm type of reduction gearing
One kind.
It is highly preferred that receiving outreach joint, hip buckling stretching, extension joint, hip inward turning outward turning joint, the stretching, extension of knee buckling in the hip
Joint, ankle varus are turned up, and joint, ankle plantar flexion dorsiflex joint and ankle are interior to receive outreach joint cooperation drive control device, using electric rotating
Machine, retarder and encoder independently use；Or using rotating electric machine, retarder, encoder and drive control device integration mould
Block carries out the manipulation of joint shaft by communication.
It is highly preferred that receiving outreach joint, hip buckling stretching, extension joint, hip inward turning outward turning joint, the stretching, extension of knee buckling in the hip
Joint, ankle varus turn up joint, receive outreach joint in ankle plantar flexion dorsiflex joint and ankle torque sensor be set as needed, in terms of
Torque output of the joint shaft in rotary course is calculated, for initiative rehabilitation control and resistance rehabilitation control；
Alternatively, being not provided with torque sensor, the rotation of joint shaft is directly driven, is controlled for passive rehabilitation.
It is highly preferred that receiving outreach joint, hip buckling stretching, extension joint, hip inward turning outward turning joint, the stretching, extension of knee buckling in the hip
Joint, ankle varus turn up joint, receive outreach joint in ankle plantar flexion dorsiflex joint and ankle gyroscope, angular acceleration be set as needed
The inertance element of sensor or geomagnetic sensor, to calculate patient thigh, shank and the posture of foot.
Preferably, outreach joint, hip buckling stretching, extension joint are received in the hip, and power transmitting, Huo Zhezhi are carried out using belt pulley
Connect driving rotation.
Preferably, the leg foot fixed part, which is inserted using velcro, magic tape or bandage, nylon tape, buckles
Outreach arthrodesis is received in mode, with ankle.
Preferably, the control section includes: joint shaft control parts of motion and human-computer interaction component, in which:
The joint shaft control parts of motion according to the parameters of human-computer interaction component settings, control the seven of healing robot from
By the movement velocity and movement angle of spending joint；
The human-computer interaction component is for setting the movement velocity of each degree-of-freedom joint and movement angle in different time sections
Degree.
It is highly preferred that the human-computer interaction component directly sets different motion speed and movement angle according to different time sections
Degree；
Alternatively, the human-computer interaction component is based on virtual reality technology, it is intuitive to set each joint in different time sections
Movement velocity and movement angle, and effect is carried out by virtual reality and is presented in real time.
Preferably, the energy supply is directly accessed alternating current, or provides energy by lead-acid accumulator, lithium battery form
Source.
Preferably, the thigh support section is directly anchored to thigh telescopic section, and by velcro, magic tape or
Person's bandage, nylon tape insert the mode buckled, and patient thigh and thigh telescopic section are fixed.
Preferably, the shank support section is directly anchored to shank telescopic section, and by velcro, magic tape or
Person's bandage, nylon tape insert the mode buckled, and patient's shank and shank telescopic section are fixed.
Compared with prior art, the present invention has the following beneficial effects:
Operation of the present invention is convenient, only the thigh of patient and shank need to be put into thigh support section and shank support section
It is interior, the leg of patient and foot are fixed on by receipts outreach joint in ankle by leg foot fixed part, so that it may provide patient
Abduction exercise is received in hip, hip buckling stretching routine, hip inward turning outward turning campaign, knee buckling stretching routine, ankle varus are turned up movement, ankle
Abduction exercise is received in plantar flexion dorsiflex campaign and ankle, the rehabilitation training in 7 degree of freedom joint, plays the role of limb rehabilitating altogether.This
Inventive structure is simple, has good rehabilitation efficacy, has and is widely popularized meaning.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the overall structure diagram of one embodiment of the present invention,
In figure: receiving outreach joint in 010- hip, 020- hip buckling stretches joint, 030- hip inward turning outward turning joint, 040- knee
Buckling stretches joint, and 050- ankle varus is turned up joint, 060- ankle plantar flexion dorsiflex joint, and outreach joint is received in 070- ankle, and 080- is big
Leg telescopic section, 090- shank telescopic section, 100- thigh support section, 110- shank support section, the leg 120- foot are solid
Determine part；
Fig. 2 a, Fig. 2 b are that abduction exercise schematic diagram is received in the hip of one embodiment of the present invention；
Fig. 3 a, Fig. 3 b are the hip buckling stretching routine schematic diagram of one embodiment of the present invention；
The hip inward turning outward turning campaign schematic diagram of Fig. 4 a, Fig. 4 b one embodiment of the present invention；
Fig. 5 a, Fig. 5 b are the knee buckling stretching routine schematic diagram of one embodiment of the present invention；
Fig. 6 a, Fig. 6 b turn up for the ankle varus of one embodiment of the present invention moves schematic diagram；
Fig. 7 a, Fig. 7 b are the ankle plantar flexion dorsiflex campaign schematic diagram of one embodiment of the present invention；
Fig. 8 a, Fig. 8 b are that abduction exercise schematic diagram is received in the ankle of one embodiment of the present invention；
Fig. 9 is the structural schematic diagram of the thigh telescopic section of one embodiment of the present invention,
In figure: 081- thigh fixation member, 082- thigh slide unit, 083- thigh length locking member；
Figure 10 a, Figure 10 b are the thigh telescopic section operation schematic diagram of one embodiment of the present invention；
Figure 11 is the structural schematic diagram of the shank telescopic section of one embodiment of the present invention,
In figure: 091- shank fixation member, 092- shank slide unit, 093- lower-leg length locking member；
Figure 12 a, Figure 12 b are the shank telescopic section operation schematic diagram of one embodiment of the present invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
As shown in Figure 1, a kind of lower limb rehabilitation robot of seven freedom, comprising: receive outreach joint 010, hip buckling in hip
Stretching, extension joint 020, hip inward turning outward turning joint 030, the stretching, extension of knee buckling joint 040, ankle varus are turned up joint 050, ankle plantar flexion dorsiflex
Joint 060 receives outreach joint 070 in ankle, is thigh telescopic section 080, shank telescopic section 090, thigh support section 100, small
Leg support section 110, leg foot fixed part 120 and control section, in which:
It is first degree-of-freedom joint that outreach joint 010 is received in the hip, and hip buckling stretching, extension joint 020 is second
Degree-of-freedom joint, the hip inward turning outward turning joint 030 are third degree-of-freedom joint, and knee buckling stretching, extension joint 040 is the
Four degree-of-freedom joints, the ankle varus turn up joint 050 be the 5th degree-of-freedom joint, the ankle plantar flexion dorsiflex joint 060
For six-freedom degree joint, the interior outreach joint 070 of receiving of the ankle is 7 degree of freedom joint, altogether 7 degree of freedom joint,
7 degree of freedom joint is attached using concatenated mode, 7 degree of freedom joint independently moving, or wherein several freedom
Degree linkage.
As shown in Fig. 1 and Fig. 2 a, Fig. 2 b, the interior receipts outreach joint 010 of the hip is with receipts in the hip joint of human body lower limbs and outside
Exhibition movement joint shaft is concentric, and patient's lower limb is helped to carry out the interior receipts of hip joint, abduction exercise；
As shown in Fig. 1 and Fig. 3 a, Fig. 3 b, hip buckling stretching, extension joint 020, which connects, receives outreach joint 010 in hip, hip is bent
The joint Qu Shenzhan 020 and the hip joint buckling and stretching joint shaft of human body lower limbs are concentric, help patient's lower limb to carry out hip and close
The buckling of section, stretching routine, and the movable joint axis phase in outreach joint 010 with hip buckling stretching, extension joint 020 is received in the hip
It is mutually vertical；
As shown in Figure 1, the connection of thigh telescopic section 080 hip buckling stretching, extension joint 020, thigh telescopic section 080
The requirement of different limbs scales is adapted to according to the length manual adjustment size of human thigh；
As shown in Fig. 1 and Fig. 4 a, Fig. 4 b, the hip inward turning outward turning joint 030 connects thigh telescopic section 080, hip inward turning
Outward turning joint 030 and the hip joint inner of human body lower limbs and outward turning movement joint shaft are concentric, and patient's lower limb is helped to carry out hip joint
Inward turning, outward turning campaign；Joint is stretched with receipts outreach joint 010, hip buckling in hip in the hip inward turning outward turning joint 030 simultaneously
020 movable joint axis is mutually perpendicular to；
As shown in Fig. 1 and Fig. 5 a, Fig. 5 b, knee buckling stretching, extension joint 040 connects thigh telescopic section 080, knee buckling
It stretches joint 040 and the knee sprung and stretching joint shaft of human body knee joint is concentric, help patient's lower limb to carry out knee and close
The buckling of section, stretching movement；
As shown in Figure 1, the shank telescopic section 090 is connect with knee buckling stretching, extension joint 040, shank telescopic section 090
The requirement of different limbs scales is adapted to according to the length manual adjustment size of human calf；
As shown in Fig. 1 and Fig. 6 a, Fig. 6 b, the ankle varus turn up joint 050 connect shank telescopic section 090, ankle varus
Turn up joint 050 and human body lower limbs ankle-joint varus and valgus movement joint shaft it is concentric, help patient's lower limb to carry out ankle-joint
Varus, movement of turning up；
As shown in Fig. 1 and Fig. 7 a, Fig. 7 b, the ankle plantar flexion dorsiflex joint 060 connects ankle varus and turns up joint 050, ankle plantar
Joint 060 in the wrong and the ankle-joint plantar flexion of human body lower limbs of stooping and dorsiflex movement joint shaft are concentric, and patient's lower limb is helped to carry out ankle pass
The plantar flexion of section, dorsiflex campaign；The ankle varus is turned up the movable joint axis phase in joint 050 and ankle plantar flexion dorsiflex joint 060 simultaneously
It is mutually vertical；
Outreach joint 070 is received as shown in Fig. 1 and Fig. 8 a, Fig. 8 b, in the ankle and connects ankle plantar flexion dorsiflex joint 060, in ankle
It is concentric to receive receipts and arms sideward lift joint shaft in the ankle-joint of outreach joint 070 and human body lower limbs, helps patient's lower limb to carry out ankle and closes
The interior receipts of section, abduction exercise；It receives outreach joint 070 in the ankle simultaneously and ankle varus is turned up joint 050, ankle plantar flexion dorsiflex joint
060 movable joint axis is perpendicular.
As shown in Figure 1, the thigh support section 100 is a U-shaped board, it is used to support the leg portion of people's limbs；
As shown in Figure 1, the shank support section 110 is a U-shaped board, it is used to support the lower leg portion of people's limbs；
As shown in Figure 1, the leg foot fixed part 120 is flexible bandage, for by the leg of patient and foot with
It is fixed that outreach joint 070 is received in ankle；
The control section is a set of control system with computing capability, for controlling the movement in 7 degree of freedom joint
Speed and movement angle carry out active, passive type to patient according to demand or resistance control, according to the rehabilitation need of different phase
It asks, realizes rehabilitation efficacy.
As a preferred embodiment, the control section includes: joint shaft control parts of motion and human-computer interaction portion
Part, in which:
The movement velocity in the seven freedom joint of the joint shaft control parts of motion control healing robot and movement angle
Degree；
The human-computer interaction component, for setting the movement velocity of each degree-of-freedom joint and movement angle in different time sections
Degree.
Further, the human-computer interaction component directly sets different motion speed and movement angle according to different time sections
Degree；
Alternatively, the human-computer interaction component is based on virtual reality technology, it is intuitive to set each joint in different time sections
Movement velocity and movement angle, and effect is carried out by virtual reality and is presented in real time.
Outreach joint 010 is received as a preferred embodiment, in the hip, hip buckling stretching, extension joint 020 uses belt
Wheel carries out power transmitting, or directly drives rotation.
As a preferred embodiment, the leg foot fixed part 120 uses velcro, magic tape, or ties up
The mode that band, nylon tape insert button is mutually fixed with lower limb rehabilitation robot.
As a preferred embodiment, the energy supply of the healing robot is to be directly accessed alternating current, or pass through
Lead-acid accumulator, lithium battery form provide the energy.
As a preferred embodiment, as shown in Fig. 9 and Figure 10 a, Figure 10 b, the thigh telescopic section 080 includes:
Thigh fixation member 081, thigh slide unit 082 and thigh length locking member 083, in which:
The thigh fixation member 081 is connected with hip buckling stretching, extension joint 020, for carrying thigh slide unit 082
With thigh length locking member 083；
Linear sliding motion is presented with thigh fixation member 081 in the thigh slide unit 082, and big according to limbs of patient
Leg length adjusts the length of entire thigh telescopic section 080；
The thigh length locking member 083 is used to carry out linear slide when thigh slide unit 082 and to meet patient big
Leg length is locked after requiring, to fix the mutual alignment of thigh fixation member 081 and thigh slide unit 082.
As a preferred embodiment, as shown in Figure 11 and Figure 12 a, Figure 12 b, the shank telescopic section 090 includes:
Shank fixation member 091, shank slide unit 092 and lower-leg length locking member 093；Wherein:
The shank fixation member 091 is connected with knee buckling stretching, extension joint 040, for carrying shank slide unit 092
With lower-leg length locking member 093；
Linear sliding motion is presented with shank fixation member 091 in the shank slide unit 092, and small according to limbs of patient
Leg length adjusts the length of entire shank telescopic section 090；
The lower-leg length locking member 093 is used to carry out linear slide when shank slide unit 092 and to meet patient small
Leg length is locked after requiring, to fix the mutual alignment of shank fixation member 091 and shank slide unit 092.
Outreach joint 010 is received as a preferred embodiment, in the hip, hip buckling stretches joint 020, outside hip inward turning
Rotation joint 030, knee buckling stretching, extension joint 040, ankle varus is turned up, and joint 050, ankle plantar flexion dorsiflex joint 060 and ankle are interior to receive outreach pass
The motion source of section 070 uses DC stepper motor, direct current permanent magnet motor, DC brushless motor, direct current torque motor, AC servo
One of motor.
Outreach joint 010 is received as a preferred embodiment, in the hip, hip buckling stretches joint 020, outside hip inward turning
Rotation joint 030, knee buckling stretching, extension joint 040, ankle varus is turned up, and joint 050, ankle plantar flexion dorsiflex joint 060 and ankle are interior to receive outreach pass
The motor pattern of section 070 is subtracted in such a way that rotating electric machine directly drives, or using RV retarder, planetary reduction gear, harmonic wave
One of fast device, gear reduction unit, worm type of reduction gearing.
Outreach joint 010 is received as a preferred embodiment, in the hip, hip buckling stretches joint 020, outside hip inward turning
Rotation joint 030, knee buckling stretching, extension joint 040, ankle varus is turned up, and joint 050, ankle plantar flexion dorsiflex joint 060 and ankle are interior to receive outreach pass
070 cooperation drive control device of section, is independently used using rotating electric machine, retarder and encoder；Or using rotating electric machine, deceleration
Device, encoder and drive control device integrated module carry out the manipulation of joint shaft by communication.
Outreach joint 010 is received as a preferred embodiment, in the hip, hip buckling stretches joint 020, outside hip inward turning
Rotation joint 030, knee buckling stretching, extension joint 040, ankle varus is turned up, and joint 050, ankle plantar flexion dorsiflex joint 060 and ankle are interior to receive outreach pass
Torque sensor is set as needed in section 070, to calculate torque output of the joint shaft in rotary course, is used for initiative rehabilitation control
System and resistance rehabilitation control；Alternatively, being not provided with torque sensor, the rotation of joint shaft is directly driven, is controlled for passive rehabilitation.
Outreach joint 010 is received as a preferred embodiment, in the hip, hip buckling stretches joint 020, outside hip inward turning
Rotation joint 030, knee buckling stretching, extension joint 040, ankle varus is turned up, and joint 050, ankle plantar flexion dorsiflex joint 060 and ankle are interior to receive outreach pass
The inertance element of gyroscope, angular acceleration transducer or geomagnetic sensor is set as needed in section 070, big to calculate patient
The posture of leg, shank and foot.
As a preferred embodiment, the energy supply of the healing robot is to be directly accessed alternating current, or pass through
Lead-acid accumulator, lithium battery form provide the energy.
A kind of lower limb rehabilitation robot of seven freedom of the present invention, it is easy to operate, it only need to be by the thigh of patient
It is put into thigh support section 100 and shank support section 110 with shank, by leg foot fixed part 120 by patient's
Leg and foot, which are fixed in ankle, receives outreach joint 070, so that it may provide and receive abduction exercise, hip buckling stretching, extension fortune in patient's hip
Dynamic, hip inward turning outward turning campaign, knee buckling stretching routine, ankle varus is turned up, and movement, ankle plantar flexion dorsiflex campaign and ankle are interior to receive outreach fortune
The rehabilitation training of dynamic 7 degree of freedom altogether, plays the role of limb rehabilitating.The configuration of the present invention is simple has good rehabilitation effect
Fruit has and is widely popularized meaning.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of lower limb rehabilitation robot of seven freedom characterized by comprising receive outreach joint, the stretching, extension of hip buckling in hip
Joint, hip inward turning outward turning joint, the stretching, extension of knee buckling joint, ankle varus turn up joint, ankle plantar flexion dorsiflex joint, receive outreach in ankle and close
Section, thigh telescopic section, shank telescopic section, thigh support section, shank support section, leg foot fixed part and control
Part, the interior outreach joint of receiving of the hip is first degree-of-freedom joint, and hip buckling stretching, extension joint is second freedom degree pass
Section, the hip inward turning outward turning joint are third degree-of-freedom joint, and knee buckling stretching, extension joint is the 4th degree-of-freedom joint,
The ankle varus turns up joint for the 5th degree-of-freedom joint, and the ankle plantar flexion dorsiflex joint is six-freedom degree joint, institute
Stating and receiving outreach joint in ankle is 7 degree of freedom joint, this 7 degree of freedom joint is connected in series；Wherein:
It is concentric that receipts and arms sideward lift joint shaft in the hip joint of outreach joint and human body lower limbs are received in the hip, for assisting patient
The interior receipts and abduction exercise of lower limb development hip joint；
Outreach joint is received in hip buckling stretching, extension joint connection hip, and is closed with the hip joint buckling and stretching of human body lower limbs
Nodal axisn is concentric, for assisting patient's lower limb to carry out the buckling and stretching routine of hip joint；
The thigh telescopic section connection hip buckling stretches joint, and thigh telescopic section is used for manual according to the length of human thigh
The sized requirement to adapt to different limbs scales；
The hip inward turning outward turning joint connects thigh telescopic section, and acts joint with the hip joint inner of human body lower limbs and outward turning
Axis is concentric, for assisting patient's lower limb to carry out the inward turning and outward turning campaign of hip joint；
Knee buckling stretching, extension joint connects thigh telescopic section, and closes with the knee sprung of human body knee joint and stretching
Nodal axisn is concentric, for assisting patient's lower limb to carry out kneed buckling and stretching movement；
The shank telescopic section is connect with knee buckling stretching, extension joint, and shank telescopic section is used for the length hand according to human calf
The sized requirement to adapt to different limbs scales of work；
The ankle varus turn up joint connection shank telescopic section, and with the ankle-joint varus and valgus of human body lower limbs act joint
Axis is concentric, for assisting patient's lower limb to carry out the varus and valgus movement of ankle-joint；
Ankle plantar flexion dorsiflex joint connection ankle varus is turned up joint, and is closed with the ankle-joint plantar flexion of human body lower limbs and dorsiflex movement
Nodal axisn is concentric, for assisting patient's lower limb to carry out the plantar flexion and dorsiflex campaign of ankle-joint；
Outreach joint is received in the ankle and connects ankle plantar flexion dorsiflex joint, and is closed with receipts in the ankle-joint of human body lower limbs and arms sideward lift
Nodal axisn is concentric, for assisting patient's lower limb to carry out the interior receipts and abduction exercise of ankle-joint；
The thigh support section connects thigh telescopic section, is used to support the leg portion of people's limbs；
The shank support section connects shank telescopic section, is used to support the lower leg portion of people's limbs；
The leg foot fixed part is used to that outreach arthrodesis will to be received in the leg of patient and foot and ankle；
The control section, for controlling the movement velocity and movement angle in the 7 degree of freedom joint.
2. a kind of lower limb rehabilitation robot of seven freedom according to claim 1, which is characterized in that receive outreach in the hip
Turn up joint, the ankle plantar flexion dorsiflex of joint, hip buckling stretching, extension joint, hip inward turning outward turning joint, the stretching, extension of knee buckling joint, ankle varus is closed
Outreach joint, any several freedom in this 7 degree of freedom joint independently moving or 7 degree of freedom joint are received in section and ankle
Degree linkage.
3. a kind of lower limb rehabilitation robot of seven freedom according to claim 1, which is characterized in that receive outreach in the hip
Joint is vertical with the hip buckling stretching, extension movable joint axis in joint；
The hip inward turning outward turning joint is vertical with receipts outreach joint, the hip buckling stretching, extension movable joint axis in joint in hip；
Ankle varus joint of turning up is vertical with the movable joint axis in ankle plantar flexion dorsiflex joint；
It is vertical that turn up joint, the movable joint axis in ankle plantar flexion dorsiflex joint of outreach joint and ankle varus is received in the ankle.
4. a kind of lower limb rehabilitation robot of seven freedom according to claim 1, which is characterized in that receive outreach in the hip
Turn up joint, the ankle plantar flexion dorsiflex of joint, hip buckling stretching, extension joint, hip inward turning outward turning joint, the stretching, extension of knee buckling joint, ankle varus is closed
The motion source that outreach joint is received in section and ankle uses DC stepper motor, direct current permanent magnet motor, DC brushless motor, direct current torque
One of motor, AC servo motor.
5. a kind of lower limb rehabilitation robot of seven freedom according to claim 4, which is characterized in that receive outreach in the hip
Turn up joint, the ankle plantar flexion dorsiflex of joint, hip buckling stretching, extension joint, hip inward turning outward turning joint, the stretching, extension of knee buckling joint, ankle varus is closed
Outreach joint is received in section and ankle, torque sensor is set, to calculate torque output of the joint shaft in rotary course, for actively
Rehabilitation control and resistance rehabilitation control；Alternatively, being not provided with torque sensor, the rotation of joint shaft is directly driven, is used for passive health
Multiple control.
6. a kind of lower limb rehabilitation robot of seven freedom according to claim 4, which is characterized in that receive outreach in the hip
Turn up joint, the ankle plantar flexion dorsiflex of joint, hip buckling stretching, extension joint, hip inward turning outward turning joint, the stretching, extension of knee buckling joint, ankle varus is closed
The inertance element of outreach joint setting gyroscope, angular acceleration transducer or geomagnetic sensor is received in section and ankle, to calculate patient
The posture of thigh, shank and foot.
7. any one of -6 a kind of lower limb rehabilitation robot of seven freedom according to claim 1, which is characterized in that described big
Leg telescopic section includes: thigh fixation member, thigh slide unit and thigh length locking member, in which:
The thigh fixation member is connect with hip buckling stretching, extension joint, for carrying thigh slide unit and thigh length tight lock part
Part；
The thigh slide unit and the linear sliding motion of thigh fixation member, can be whole according to limbs of patient thigh length adjustment
The length of a thigh telescopic section；
After the thigh length locking member carries out linear slide and meets patient thigh's length requirement for thigh slide unit
Locking, to fix the mutual alignment of thigh fixation member and thigh slide unit.
8. any one of -6 a kind of lower limb rehabilitation robot of seven freedom according to claim 1, which is characterized in that described small
Leg telescopic section includes: shank fixation member, shank slide unit and lower-leg length locking member, in which:
The shank fixation member is connected with knee buckling stretching, extension joint, for carrying shank slide unit and lower-leg length locking
Component；
The shank slide unit and the linear sliding motion of shank fixation member can be adjusted whole according to limbs of patient lower-leg length
The length of a shank telescopic section；
After the lower-leg length locking member carries out linear slide and meets patient's lower-leg length requirement for shank slide unit
Locking, to fix the mutual alignment of shank fixation member and shank slide unit.
9. any one of -6 a kind of lower limb rehabilitation robot of seven freedom according to claim 1, which is characterized in that have with
A kind of lower or various features:
Outreach joint, hip buckling stretching, extension joint are received in the hip, power transmitting is carried out using belt pulley, or directly drive rotation
Turn；
The leg foot fixed part inserts the mode buckled using velcro, magic tape or bandage, nylon tape, in ankle
Receive outreach arthrodesis.
10. any one of -6 a kind of lower limb rehabilitation robot of seven freedom according to claim 1, which is characterized in that described
Control section includes: joint shaft control parts of motion and human-computer interaction component, in which:
The human-computer interaction component is used to set the movement velocity and movement angle of each degree-of-freedom joint in different time sections；
The joint shaft control parts of motion controls the seven freedom of healing robot according to the parameter of human-computer interaction component settings
The movement velocity and movement angle in joint.
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